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<div class="title">voxel_structure.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_RECOGNITION_VOXEL_STRUCTURE_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_RECOGNITION_VOXEL_STRUCTURE_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;cstdlib&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keyword">namespace </span>recognition</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  {</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> T, <span class="keyword">typename</span> REAL = <span class="keywordtype">float</span>&gt;</div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_voxel_structure.html">   50</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html">VoxelStructure</a></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    {</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html">VoxelStructure</a> (): voxels_(NULL){}</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      <span class="keyword">inline</span> <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html">VoxelStructure</a> (){ this-&gt;<a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html#ab4bce57dc19a40f6112f29efced42a94">clear</a>();}</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html#a073f10f573fe931183b287d58778f0f9">build</a> (<span class="keyword">const</span> REAL bounds[6], <span class="keywordtype">int</span> num_of_voxels[3]);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_voxel_structure.html#ab4bce57dc19a40f6112f29efced42a94">   62</a></span>&#160;      <a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html#ab4bce57dc19a40f6112f29efced42a94">clear</a> (){ <span class="keywordflow">if</span> ( voxels_ ){ <span class="keyword">delete</span>[] voxels_; voxels_ = NULL;}}</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">inline</span> T*</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html#a1313ad51305b2ab9f6369b41849a12b3">getVoxel</a> (<span class="keyword">const</span> REAL p[3]);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">inline</span> T*</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html#a1313ad51305b2ab9f6369b41849a12b3">getVoxel</a> (<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> z) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">const</span> <span class="keyword">inline</span> T*</div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_voxel_structure.html#aa7c2cf3399363204603b5074a5eedd15">   74</a></span>&#160;      <a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html#aa7c2cf3399363204603b5074a5eedd15">getVoxels</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keywordflow">return</span> voxels_;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      }</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">inline</span> T*</div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_voxel_structure.html#ab8959adb92fb49e9435ace6b5a36721a">   81</a></span>&#160;      <a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html#ab8959adb92fb49e9435ace6b5a36721a">getVoxels</a> ()</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="keywordflow">return</span> voxels_;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      }</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_voxel_structure.html#aa2e5997ea758ca556a98267986dfd3e2">   91</a></span>&#160;      <a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html#aa2e5997ea758ca556a98267986dfd3e2">compute3dId</a> (<span class="keywordtype">int</span> linear_id, <span class="keywordtype">int</span> id3d[3])<span class="keyword"> const</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="comment">// Compute the z axis id</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        id3d[2] = linear_id / num_of_voxels_xy_plane_;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="keywordtype">int</span> proj_xy = linear_id % num_of_voxels_xy_plane_;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <span class="comment">// Compute the y axis id</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        id3d[1] = proj_xy / num_of_voxels_[0];</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <span class="comment">// Compute the x axis id</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        id3d[0] = proj_xy % num_of_voxels_[0];</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">int</span>*</div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_voxel_structure.html#aa5d6e002d3c77e098d31c413b08ab6c7">  104</a></span>&#160;      <a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html#aa5d6e002d3c77e098d31c413b08ab6c7">getNumberOfVoxelsXYZ</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keywordflow">return</span> (num_of_voxels_);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_voxel_structure.html#ac339791879a08260e2c0fe9fbfd69719">  114</a></span>&#160;      <a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html#ac339791879a08260e2c0fe9fbfd69719">computeVoxelCenter</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> id3[3], REAL center[3])<span class="keyword"> const</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        center[0] = min_center_[0] + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (id3[0])*spacing_[0];</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        center[1] = min_center_[1] + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (id3[1])*spacing_[1];</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        center[2] = min_center_[2] + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (id3[2])*spacing_[2];</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_voxel_structure.html#a8d0fde6cc1b2daf9a4d47a696024dcaf">  123</a></span>&#160;      <a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html#a8d0fde6cc1b2daf9a4d47a696024dcaf">getNumberOfVoxels</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <span class="keywordflow">return</span> (total_num_of_voxels_);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_voxel_structure.html#a7e6a0a625001e2dd50ec7eb83b96de33">  130</a></span>&#160;      <a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html#a7e6a0a625001e2dd50ec7eb83b96de33">getBounds</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <span class="keywordflow">return</span> (bounds_);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_voxel_structure.html#ac693db88daad1f7be7ef1366b3accbb3">  137</a></span>&#160;      <a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html#ac693db88daad1f7be7ef1366b3accbb3">getBounds</a>(REAL b[6])<span class="keyword"> const</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        b[0] = bounds_[0];</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        b[1] = bounds_[1];</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        b[2] = bounds_[2];</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        b[3] = bounds_[3];</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        b[4] = bounds_[4];</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        b[5] = bounds_[5];</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      }</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keyword">const</span> REAL*</div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_voxel_structure.html#a12ef34f5ccdda4a032eecbc716e7db8e">  149</a></span>&#160;      <a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html#a12ef34f5ccdda4a032eecbc716e7db8e">getVoxelSpacing</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="keywordflow">return</span> (spacing_);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      }</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html#ab7d2292555c2d6a4530281ba5eab533d">getNeighbors</a> (<span class="keyword">const</span> REAL* p, T **neighs) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      T *voxels_;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keywordtype">int</span> num_of_voxels_[3], num_of_voxels_xy_plane_, total_num_of_voxels_;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      REAL bounds_[6];</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      REAL spacing_[3]; <span class="comment">// spacing betwen the voxel in x, y and z direction = voxel size in x, y and z direction</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      REAL min_center_[3]; <span class="comment">// the center of the voxel with integer coordinates (0, 0, 0)</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    };</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  } <span class="comment">// namespace recognition</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;} <span class="comment">// namespace pcl</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/impl/ransac_based/voxel_structure.hpp&gt;</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_RECOGNITION_VOXEL_STRUCTURE_H_</span></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_voxel_structure_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_voxel_structure.html">pcl::recognition::VoxelStructure</a></div><div class="ttdoc">This class is a box in R3 built of voxels ordered in a regular rectangular grid. Each voxel is of typ...</div><div class="ttdef"><b>Definition:</b> voxel_structure.h:51</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_voxel_structure_html_a073f10f573fe931183b287d58778f0f9"><div class="ttname"><a href="classpcl_1_1recognition_1_1_voxel_structure.html#a073f10f573fe931183b287d58778f0f9">pcl::recognition::VoxelStructure::build</a></div><div class="ttdeci">void build(const REAL bounds[6], int num_of_voxels[3])</div><div class="ttdoc">Call this method before using an instance of this class. Parameter meaning is obvious.</div><div class="ttdef"><b>Definition:</b> voxel_structure.hpp:43</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_voxel_structure_html_a12ef34f5ccdda4a032eecbc716e7db8e"><div class="ttname"><a href="classpcl_1_1recognition_1_1_voxel_structure.html#a12ef34f5ccdda4a032eecbc716e7db8e">pcl::recognition::VoxelStructure::getVoxelSpacing</a></div><div class="ttdeci">const REAL * getVoxelSpacing() const</div><div class="ttdoc">Returns the voxel spacing in x, y and z direction. That's the same as the voxel size along each axis.</div><div class="ttdef"><b>Definition:</b> voxel_structure.h:149</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_voxel_structure_html_a1313ad51305b2ab9f6369b41849a12b3"><div class="ttname"><a href="classpcl_1_1recognition_1_1_voxel_structure.html#a1313ad51305b2ab9f6369b41849a12b3">pcl::recognition::VoxelStructure::getVoxel</a></div><div class="ttdeci">T * getVoxel(const REAL p[3])</div><div class="ttdoc">Returns a pointer to the voxel which contains p or NULL if p is not inside the structure.</div><div class="ttdef"><b>Definition:</b> voxel_structure.hpp:78</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_voxel_structure_html_a7e6a0a625001e2dd50ec7eb83b96de33"><div class="ttname"><a href="classpcl_1_1recognition_1_1_voxel_structure.html#a7e6a0a625001e2dd50ec7eb83b96de33">pcl::recognition::VoxelStructure::getBounds</a></div><div class="ttdeci">const float * getBounds() const</div><div class="ttdoc">Returns the bounds of the voxel structure, which is pointer to the internal array of 6 doubles: (min_...</div><div class="ttdef"><b>Definition:</b> voxel_structure.h:130</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_voxel_structure_html_a8d0fde6cc1b2daf9a4d47a696024dcaf"><div class="ttname"><a href="classpcl_1_1recognition_1_1_voxel_structure.html#a8d0fde6cc1b2daf9a4d47a696024dcaf">pcl::recognition::VoxelStructure::getNumberOfVoxels</a></div><div class="ttdeci">int getNumberOfVoxels() const</div><div class="ttdoc">Returns the total number of voxels.</div><div class="ttdef"><b>Definition:</b> voxel_structure.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_voxel_structure_html_aa2e5997ea758ca556a98267986dfd3e2"><div class="ttname"><a href="classpcl_1_1recognition_1_1_voxel_structure.html#aa2e5997ea758ca556a98267986dfd3e2">pcl::recognition::VoxelStructure::compute3dId</a></div><div class="ttdeci">void compute3dId(int linear_id, int id3d[3]) const</div><div class="ttdoc">Converts a linear id to a 3D id, i.e., computes the integer 3D coordinates of a voxel from its positi...</div><div class="ttdef"><b>Definition:</b> voxel_structure.h:91</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_voxel_structure_html_aa5d6e002d3c77e098d31c413b08ab6c7"><div class="ttname"><a href="classpcl_1_1recognition_1_1_voxel_structure.html#aa5d6e002d3c77e098d31c413b08ab6c7">pcl::recognition::VoxelStructure::getNumberOfVoxelsXYZ</a></div><div class="ttdeci">const int * getNumberOfVoxelsXYZ() const</div><div class="ttdoc">Returns the number of voxels in x, y and z direction.</div><div class="ttdef"><b>Definition:</b> voxel_structure.h:104</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_voxel_structure_html_aa7c2cf3399363204603b5074a5eedd15"><div class="ttname"><a href="classpcl_1_1recognition_1_1_voxel_structure.html#aa7c2cf3399363204603b5074a5eedd15">pcl::recognition::VoxelStructure::getVoxels</a></div><div class="ttdeci">const T * getVoxels() const</div><div class="ttdoc">Returns the linear voxel array.</div><div class="ttdef"><b>Definition:</b> voxel_structure.h:74</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_voxel_structure_html_ab4bce57dc19a40f6112f29efced42a94"><div class="ttname"><a href="classpcl_1_1recognition_1_1_voxel_structure.html#ab4bce57dc19a40f6112f29efced42a94">pcl::recognition::VoxelStructure::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Release the memory allocated for the voxels.</div><div class="ttdef"><b>Definition:</b> voxel_structure.h:62</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_voxel_structure_html_ab7d2292555c2d6a4530281ba5eab533d"><div class="ttname"><a href="classpcl_1_1recognition_1_1_voxel_structure.html#ab7d2292555c2d6a4530281ba5eab533d">pcl::recognition::VoxelStructure::getNeighbors</a></div><div class="ttdeci">int getNeighbors(const REAL *p, T **neighs) const</div><div class="ttdoc">Saves pointers to the voxels which are neighbors of the voxels which contains 'p'....</div><div class="ttdef"><b>Definition:</b> voxel_structure.hpp:105</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_voxel_structure_html_ab8959adb92fb49e9435ace6b5a36721a"><div class="ttname"><a href="classpcl_1_1recognition_1_1_voxel_structure.html#ab8959adb92fb49e9435ace6b5a36721a">pcl::recognition::VoxelStructure::getVoxels</a></div><div class="ttdeci">T * getVoxels()</div><div class="ttdoc">Returns the linear voxel array.</div><div class="ttdef"><b>Definition:</b> voxel_structure.h:81</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_voxel_structure_html_ac339791879a08260e2c0fe9fbfd69719"><div class="ttname"><a href="classpcl_1_1recognition_1_1_voxel_structure.html#ac339791879a08260e2c0fe9fbfd69719">pcl::recognition::VoxelStructure::computeVoxelCenter</a></div><div class="ttdeci">void computeVoxelCenter(const int id3[3], REAL center[3]) const</div><div class="ttdoc">Computes the center of the voxel with given integer coordinates.</div><div class="ttdef"><b>Definition:</b> voxel_structure.h:114</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_voxel_structure_html_ac693db88daad1f7be7ef1366b3accbb3"><div class="ttname"><a href="classpcl_1_1recognition_1_1_voxel_structure.html#ac693db88daad1f7be7ef1366b3accbb3">pcl::recognition::VoxelStructure::getBounds</a></div><div class="ttdeci">void getBounds(REAL b[6]) const</div><div class="ttdoc">Copies the bounds of the voxel structure to 'b'.</div><div class="ttdef"><b>Definition:</b> voxel_structure.h:137</div></div>
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